Legal claims defining the scope of protection, as filed with the USPTO.
1. An information processing apparatus comprising: an input interface configured to obtain observation data obtained from an observation space; a processor configured to: detect a detection target included in the observation data, track a position of the detection target in a two-dimensional virtual space as a material point by: mapping coordinates of the detected detection target in a display space as coordinates of the material point indicating the detection target in the virtual space, tracking a position and a velocity of the material point indicating the detection target in the virtual space, and mapping coordinates of the tracked material point in the virtual space as coordinates in the display space, and track a size of the detection target in the display space by: sequentially observing sizes of the detection target in the display space, and estimating a size of the detection target at a present time on a basis of observed values of the size of the detection target at the present time and estimated values of a size of a past detection target; and an output interface configured to output information based on the coordinates of the material point mapped to the display space and the estimated size of the detection target, wherein the virtual space is a two-dimensional space consisting of x-coordinates and y-coordinates whose value in a z-axis direction is fixed to a certain value in a coordinate system defined by the x-axis, the y-axis, and the z-axis of real space in which the detection target exists, and the coordinates of the material point in the virtual space are obtained by mapping coordinates of a representative point at a center of a bottom of the detection target in the display space into coordinates in the virtual space in which the certain value is set to zero.
2. The information processing apparatus according to claim 1, wherein the processor is configured to track the position and the velocity of the material point using a Kalman filter.
3. The information processing apparatus according to claim 1, wherein: the size of the detection target includes width and height of the detection target; estimated values of width and height of a detection target preceding the detection target at the present time are denoted by W(k−1) and H(k−1), respectively; observed values of width and height of the detection target at the present time are denoted by Wmeans (k) and Hmeans (k), respectively; the processor is further configured to estimate estimated values W(k) and H(k) of the width and the height of the detection target at the present time using expressions: W(k)=W(k−1)+α(Wmeans(k)−W(k−1)) (1); and H(k)=H(k−1)+α(Hmeans(k)−H(k−1)) (2),, where a parameter α falls within a range of 0≤α≤1.
4. The information processing apparatus according to claim 3, wherein the processor is further configured to estimate accuracy of detecting the detection target included in the observation data and dynamically adjusts the parameter α on a basis of the accuracy of detecting.
5. The information processing apparatus according to claim 3, wherein the processor is configured to dynamically adjusts the parameter α in accordance with a velocity of movement of the detection target in the observation space.
6. The information processing apparatus according to claim 1, wherein, in a case where the observed values of the size of the detection target at the present time cannot be obtained, the processor is configured to estimate the size of the detection target at the present time on a basis of only the estimated values of the size of the past detection target.
7. The information processing apparatus according to claim 6, wherein: the size of the detection target includes width and height of the detection target; estimated values of width and height of a detection target preceding the detection target at the present time are denoted by W(k−1) and H(k−1), respectively; estimated values of width and height of a detection target before the preceding detection target are denoted by W(k−2) and H(k−2), respectively; and the processor is configured to estimated values W(k) and H(k) of the width and the height of the detection target at the present time using expressions: W(k)=W(k−1)+β(W(k−1)−W(k−2)) (3); and H(k)=H(k−1)+β(H(k−1)−H(k−2)) (4),, where a parameter β falls within a range of 0≤β≤1.
8. A sensing apparatus comprising: a sensor configured to sense an observation space and obtain observation data regarding a detection target; a processor configured to: detect a detection target included in the observation data, track a position of the detection target in a two-dimensional virtual space as a material point by: mapping coordinates of the detected detection target in a display space as coordinates of the material point indicating the detection target in the virtual space, tracking a position and a velocity of the material point indicating the detection target in the virtual space, and mapping coordinates of the tracked material point in the virtual space as coordinates in the display space, and track a size of the detection target in the display space by: sequentially observing sizes of the detection target in the display space, and estimating a size of the detection target at a present time on a basis of observed values of the size of the detection target at the present time and estimated values of a size of a past detection target; and an output interface configured to output information based on the coordinates of the material point mapped to the display space and the estimated size of the detection target, wherein the virtual space is a two-dimensional space consisting of x-coordinates and y-coordinates whose value in a z-axis direction is fixed to a certain value in a coordinate system defined by the x-axis, the y-axis, and the z-axis of real space in which the detection target exists, and the coordinates of the material point in the virtual space are obtained by mapping coordinates of a representative point at a center of a bottom of the detection target in the display space into coordinates in the virtual space in which the certain value is set to zero.
9. A mobile object comprising the sensing apparatus according to claim 8.
10. A method for processing information, the method comprising: obtaining observation data obtained from an observation space; detecting a detection target included in the observation data; tracking a position of the detection target in a two-dimensional virtual space as a material point by: mapping coordinates of the detected detection target in a display space as coordinates of the material point indicating the detection target in the virtual space; tracking a position and a velocity of the material point indicating the detection target in the virtual space; and mapping coordinates of the tracked material point in the virtual space as coordinates in the display space; and tracking a size of the detection target in the display space by: sequentially observing sizes of the detection target in the display space; and estimating a size of the detection target at a present time on a basis of observed values of the size of the detection target at the present time and estimated values of a size of a past detection target; and outputting information based on the coordinates of the material point mapped to the display space and the estimated size of the detection target, wherein the virtual space is a two-dimensional space consisting of x-coordinates and y-coordinates whose value in a z-axis direction is fixed to a certain value in a coordinate system defined by the x-axis, the y-axis, and the z-axis of real space in which the detection target exists, and the coordinates of the material point in the virtual space are obtained by mapping coordinates of a representative point at a center of a bottom of the detection target in the display space into coordinates in the virtual space in which the certain value is set to zero.
Unknown
April 1, 2025
Browse 5M+ US patents with plain-English claim translations and AI-generated analysis.